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EP3557361B1 - Ladestationserkennungsverfahren und vorrichtung dafür - Google Patents

Ladestationserkennungsverfahren und vorrichtung dafür Download PDF

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Publication number
EP3557361B1
EP3557361B1 EP19169469.4A EP19169469A EP3557361B1 EP 3557361 B1 EP3557361 B1 EP 3557361B1 EP 19169469 A EP19169469 A EP 19169469A EP 3557361 B1 EP3557361 B1 EP 3557361B1
Authority
EP
European Patent Office
Prior art keywords
robot
arc
determining
shaped object
preset
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19169469.4A
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English (en)
French (fr)
Other versions
EP3557361A1 (de
Inventor
Youjun XIONG
Gaobo HUANG
Xiangbin HUANG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ubtech Robotics Corp
Original Assignee
Ubtech Robotics Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of EP3557361A1 publication Critical patent/EP3557361A1/de
Application granted granted Critical
Publication of EP3557361B1 publication Critical patent/EP3557361B1/de
Active legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/027—Electromagnetic sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/426—Scanning radar, e.g. 3D radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/881—Radar or analogous systems specially adapted for specific applications for robotics
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle

Definitions

  • the present disclosure relates to robot technology, and particularly to a method, a device, and a robot for identifying charging station.
  • FIG. 1 is a marking structure of a charging station in the prior art.
  • a marking structure as shown in FIG. 1 will generally be disposed on the charging station, and the marking structure is generally formed by connecting at least one convex structure and at least one concave structure, and the robot realizes the identification of the charging station by performs matching to the marking structure.
  • the identification process since data jumps easily occur at the intersection of the cross-section of the convex structure and the concave structure, which causes the low identification accuracy of the charging station.
  • WO 2017/037257 A1 describes an autonomous mobile robot and a base station for the robot.
  • the robot is equipped with a navigation module comprising a navigation sensor for sensing geometric features of objects in the surroundings of the robot.
  • the base station has at least one geometric feature that can be sensed by the navigation sensor for the robot.
  • the robot comprises a robot controller which is coupled to the navigation module and is designed to identify and/or locate the base station and/or determine a docking position for the robot on the basis of the at least one geometric feature of the base station.
  • US 2018/0079081 A1 describes a robot including a camera for detecting image data in an area, a memory for storing an object location of objects, an input device for receiving user input, and a robot controller.
  • the robot controller can determine that an object is a desired object to track based on user input or previously detected image data indicating that the desired object has been previously manipulated.
  • the robot controller can determine an identifier of the desired object based on at least one of a comparison of the image data to a database of objects and identifiers or an identifier received via the input device.
  • the robot controller can determine a current location of the desired object based on the image data and update the object location of the desired object to include the current location of the desired object.
  • arc-shaped refers to a segment of a differential curve and/or to a minor arc, which is an angle at the center of the circle that is less than 180 degrees.
  • An "arc-shaped structure” refers to a structure being arc-shaped and may include any three-dimensional structure of any given length. Typically, the arc-shaped structure will be planar to a floor of a building, but the disclosure is not limited thereto.
  • FIG. 2 is a schematic block diagram of a robot according to an embodiment of the present disclosure.
  • a robot 6 may include, but is not limited to, a processor 60, a storage 61, a computer program 62 stored in the storage 61 (e.g., a memory) and executable on the processor 60, and a radar 63.
  • the processor 60 executes the computer program 62, steps in an embodiment of a charging station identifying method (see FIG. 3 ) are implemented.
  • the processor 60 executes the computer program 62, the functions of each of the modules/units in a device embodiment (see FIG. 6 ) are implemented.
  • the computer program 62 may be divided into one or more modules / units, and the one or more modules / units are stored in the storage 61 and executed by the processor 60 to realize the present disclosure.
  • the one or more modules / units may be a series of computer program instruction sections capable of performing a specific function, and the instruction sections are for describing the execution process of the computer program 62 in the robot 6.
  • the processor 60 may be a central processing unit (CPU), or be other general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or be other programmable logic device, a discrete gate, a transistor logic device, and a discrete hardware component.
  • the general purpose processor may be a microprocessor, or the processor may also be any conventional processor.
  • the storage 61 may be an internal storage unit of the robot 6, for example, a hard disk or a memory of the robot 6.
  • the storage 61 may also be an external storage device of the robot 6, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, flash card, and the like, which is equipped on robot 6.
  • the storage 61 may further include both an internal storage unit and an external storage device, of the robot 6.
  • the storage 61 is configured to store the computer program and other programs and data required by the robot 6.
  • the storage 61 may also be used to temporarily store data that has been or will be output.
  • FIG. 3 is a flow chart of a charging station identifying method according to an embodiment of the present disclosure.
  • the method is a computer-implemented method executable for a processor.
  • the charging station identifying method is applied to a robot. As shown in FIG. 3 , the method includes the following steps.
  • S201 obtaining radar scanning data produced by a radar of the robot.
  • FIG. 4 is radar scanning data of the robot.
  • the radar scanning data indicative of one or more objects and an environment surrounding the robot.
  • the circle in the figure represents the robot, and the points in the figure are obstacle information obtained by scanning obstacles through the radar of the robot.
  • the higher the angular resolution of the radar the greater the number of radar scan points for the obstacles of a particular position and size.
  • a coordinate system with a center of the robot as the origin is used, where a direction in front of the robot is taken as the direction of X-axis, and a direction in the 90 degrees' counter-clockwise rotation of the X-axis is taken as the direction of Y-axis.
  • S202 determining whether an arc-shaped object exists in a radar scanning range of the radar of the robot based on the radar scanning data.
  • N is an integer greater than 1, and the specific value may be determined according to actual needs, for example, it can be set to 10, 20, 30, and the like.
  • the first condition is a sum of an absolute value of one or more first error values being less than a preset first threshold, the first error value is a difference of a distance between each of the one or more sampling points and a reference point as well as a preset reference distance, and the reference point is any point within the radar scanning range.
  • the coordinates of the N sampling points can be respectively expressed as ( x 1 , y 1 ), ( x 2 , y 2 ), ..., ( x n , y n ), ..., ( x N , y N ), where 1 ⁇ n ⁇ N , and the coordinate of the reference point can be expressed as ( x 0 , y 0 ).
  • R is the reference distance, that is, the radius of the arc-shaped object, the specific value can be determined according to the actual needs, for example, it can be set to 15 cm, 20 cm, 25 cm, and the like.
  • Threshold 1 is the first threshold
  • the specific value may be determined according to the actual needs, and the value is positively correlated with N, and is positively correlated with R, that is, the greater the value of N is, the greater the value of R is and the greater the value of Threshold 1 is. For example, it can be set to 10 cm, 15 cm, 20 cm, and the like.
  • the N sampling points meet the first condition in addition to that the N sampling points meet the first condition, it also needs to determine whether the N sampling points meet a preset second condition, wherein the second condition is an average value of one or more second error values being less than a preset second threshold, and the second error value is a square of a difference of the first error value and a reference error value, the reference error value is an average value of the first error value.
  • the second condition is an average value of one or more second error values being less than a preset second threshold
  • the second error value is a square of a difference of the first error value and a reference error value
  • the reference error value is an average value of the first error value.
  • the charging station may be a concave circular object which facilitates the charging of the robot. Therefore, in order to further ensure the accuracy of the determination result, in addition to that the N sampling points meet the first condition and the second condition, it is also need to determine whether the composed object is convex or concave.
  • the coordinate of the current position of the robot is (0, 0), that is, at the origin position.
  • calculating a first vector from the current position point of the robot to the reference point where the first vector may be expressed as ( x 0 , y 0 ).
  • calculating a second vector from a target sampling point to the reference point where the target sampling point is any one of the N sampling points, and the second vector may be expressed as ( x 0 - x n , y 0 - y n ) .
  • determining whether an included angle between the first vector and the second vector is greater than a preset angle threshold.
  • the angle threshold may be set to 90 degrees, and the first vector and the second vector need to meet the following conditions: x 0 x 0 ⁇ x n + y 0 y 0 ⁇ y n ⁇ 0 ; if the condition is met, that is, the included angle between the first vector and the second vector is greater than 90 degrees, which indicates that the object composed of the N sampling points is concave, and it is determined that there exists the arc-shaped object in the radar scanning range of the robot. If the condition is not met, which indicates that the object compose of the N sampling points is convex, and it is determined that there exists no arc-shaped object in the radar scanning range of the robot.
  • step S203 is executed, and if the arc-shaped object exists in the radar scanning range of the robot, step S204 is executed.
  • S203 controlling a chassis of the robot to rotate a preset angle.
  • the angle may be set according to actual needs, for example, it may be set to 5 degrees, 10 degrees, 20 degrees, or the like.
  • the direction of rotation may be counterclockwise or clockwise. After the chassis of the robot is rotated, it returns to step S201 and subsequent steps, until there exists the arc-shaped object in the radar scanning range of the robot or the time consumption exceeds a preset time threshold.
  • the time threshold may be determined according to actual needs, for example, it may be set to 2 minutes, 5 minutes, 10 minutes, and the like.
  • S204 determining the arc-shaped object as a charging station.
  • FIG. 5 is a schematic diagram of determining a charging station through the radar scanning data of the robot. For example, if the radius of the arc of the charging station is the same as the radius of the chassis of the robot, as shown in FIG.
  • the coordinate of the center of the arc of the charging station is the target coordinate of the chassis of the robot to be moved to, and the ultimate orientation of the robot relates to the position of the conductive sheet/wheel on the robot, for example, the front of the robot coincides with the front of the charging station when the conductive sheet/wheel is right behind the robot.
  • this embodiment first, obtaining radar scanning data produced by a radar of the robot; then, determining whether an arc-shaped object exists in a radar scanning range of the radar of the robot based on the radar scanning data; finally, determining the arc-shaped object as a charging station in response to determining that the arc-shaped object exists in the radar scanning range of the robot.
  • this embodiment substitutes the arc identification for the conventional concave-convex structure identification. Since the surface of the arc is relatively smooth, the data jumps at the intersection of the cross-section will not occur, hence the accuracy of charging station identification can be greatly improved.
  • FIG. 6 is a schematic block diagram of a charging station identifying device according to an embodiment of the present disclosure. As shown in FIG. 6 , the charging station identifying device is applied to a robot, and specifically includes:
  • the arc-shaped object determining module 502 may include:
  • the arc-shaped object determining module 502 may further include: a second determining unit configured to determine whether the N sampling points meet a preset second condition, wherein the second condition is an average value of one or more second error values being less than a preset second threshold, and the second error value is a square of a difference of the first error value and a reference error value, the reference error value is an average value of the first error value.
  • a second determining unit configured to determine whether the N sampling points meet a preset second condition, wherein the second condition is an average value of one or more second error values being less than a preset second threshold, and the second error value is a square of a difference of the first error value and a reference error value, the reference error value is an average value of the first error value.
  • the arc-shaped object determining module 502 may further include:
  • the device may further include: a chassis rotation module configured to control a chassis of the robot to rotate a preset angle, if there exists no arc-shaped object in the radar scanning range of the robot.
  • a chassis rotation module configured to control a chassis of the robot to rotate a preset angle, if there exists no arc-shaped object in the radar scanning range of the robot.
  • the division of the above-mentioned functional units and modules is merely an example for illustration.
  • the above-mentioned functions may be allocated to be performed by different functional units according to requirements, that is, the internal structure of the device may be divided into different functional units or modules to complete all or part of the above-mentioned functions.
  • the functional units and modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional unit.
  • each functional unit and module is merely for the convenience of distinguishing each other and are not intended to limit the scope of protection of the present disclosure.
  • the specific operation process of the units and modules in the above-mentioned system reference may be made to the corresponding processes in the above-mentioned method embodiments, and are not described herein.
  • the disclosed apparatus (device) / terminal device and method may be implemented in other manners.
  • the above-mentioned apparatus (device) / terminal device embodiment is merely exemplary.
  • the division of modules or units is merely a logical functional division, and other division manner may be used in actual implementations, that is, multiple units or components may be combined or be integrated into another system, or some of the features may be ignored or not performed.
  • the shown or discussed mutual coupling may be direct coupling or communication connection, and may also be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated.
  • the components represented as units may or may not be physical units, that is, may be located in one place or be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of this embodiment.
  • each functional unit in each of the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional unit.
  • the integrated module / unit When the integrated module / unit is implemented in the form of a software functional unit and is sold or used as an independent product, the integrated module / unit may be stored in a non-transitory computer-readable storage medium. Based on this understanding, all or part of the processes in the method for implementing the above-mentioned embodiments of the present disclosure may also be implemented by instructing relevant hardware through a computer program.
  • the computer program may be stored in a non-transitory computer-readable storage medium, which may implement the steps of each of the above-mentioned method embodiments when executed by a processor.
  • the computer program includes computer program codes which may be the form of source codes, object codes, executable files, certain intermediate, and the like.
  • the computer-readable medium may include any primitive or device capable of carrying the computer program codes, a recording medium, a USB flash drive, a portable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), electric carrier signals, telecommunication signals and software distribution media.
  • a computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to the legislation and patent practice, a computer readable medium does not include electric carrier signals and telecommunication signals.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (10)

  1. Computerimplementiertes Verfahren für einen Roboter (6), umfassend einen Radar (63), wobei das Verfahren umfasst:
    Erhalten von Abtastdaten, die von einem Radar (63) des Roboters (6) erzeugt werden, wobei die Abtastdaten ein oder mehrere Objekte und eine Umgebung um den Roboter (6) anzeigen;
    Bestimmen, ob ein bogenförmiges Objekt in einem Abtastbereich des Radars (63) des Roboters (6) vorhanden ist, basierend auf den Abtastdaten, wobei das Bestimmen umfasst:
    Erhalten eines oder mehrerer Samplingpunkte aus den Abtastdaten;
    Bestimmen, ob N Samplingpunkte, die eine voreingestellte erste Bedingung erfüllen, vorhanden sind, wobei N eine ganze Zahl größer als 1 ist und die erste Bedingung eine Summe eines Absolutwerts von einem oder mehreren ersten Fehlerwerten ist, die kleiner als ein voreingestellter erster Schwellenwert ist, wobei der erste Fehlerwert eine Differenz eines Abstands zwischen jedem der einen oder mehreren Samplingpunkte und einem Referenzpunkt sowie einem voreingestellten Referenzabstand ist und der Referenzpunkt ein beliebiger Punkt innerhalb des Abtastbereichs ist; und
    Bestimmen, dass das bogenförmige Objekt im Abtastbereich des Roboters (6) vorhanden ist, als Reaktion auf das Bestimmen, dass die N Samplingpunkte, die die erste Bedingung erfüllen, vorhanden sind;
    als Reaktion auf das Bestimmen, dass das bogenförmige Objekt im Abtastbereich des Roboters (6) vorhanden ist, Bestimmen, dass das bogenförmige Objekt eine Ladestation ist;
    als Reaktion auf das Bestimmen, dass kein bogenförmiges Objekt im Abtastbereich des Roboters (6) vorhanden ist, weiterhin Erhalten von Abtastdaten, die vom Radar (63) des Roboters (6) erzeugt werden; und
    Bewegen des Roboters (6) zur Ladestation.
  2. Verfahren nach Anspruch 1, das als Reaktion darauf, dass N Samplingpunkte die erste Bedingung erfüllen, vor dem Schritt des Bestimmens, dass das bogenförmige Objekt im Abtastbereich des Roboters (6) vorhanden ist, weiter umfasst:
    Bestimmen, ob die N Samplingpunkte eine voreingestellte zweite Bedingung erfüllen, wobei die zweite Bedingung ein Durchschnittswert von einem oder mehreren zweiten Fehlerwerten ist, die kleiner als ein voreingestellter zweiter Schwellenwert sind, und der zweite Fehlerwert ein Quadrat einer Differenz des ersten Fehlerwertes und eines Referenzfehlerwertes ist, wobei der Referenzfehlerwert ein Durchschnittswert des ersten Fehlerwertes ist; und
    Bestimmen, dass das bogenförmige Objekt im Abtastbereich des Roboters (6) vorhanden ist, als Reaktion darauf, dass die N Samplingpunkte die voreingestellte zweite Bedingung erfüllen.
  3. Verfahren nach Anspruch 2, das als Reaktion darauf, dass N Samplingpunkte die voreingestellte zweite Bedingung erfüllen, vor dem Schritt des Bestimmens, dass das bogenförmige Objekt im Abtastbereich des Roboters (6) vorhanden ist, weiter umfasst:
    Erhalten eines aktuellen Positionspunktes des Roboters (6);
    Berechnen eines ersten Vektors vom aktuellen Positionspunkt des Roboters (6) zum Referenzpunkt;
    Berechnen eines zweiten Vektors von einem Zielsamplingpunkt zum Referenzpunkt, wobei der Zielsamplingpunkt ein beliebiger der N Samplingpunkte ist;
    Bestimmen, ob ein eingeschlossener Winkel zwischen dem ersten Vektor und dem zweiten Vektor größer als ein voreingestellter Winkelschwellenwert ist; und
    Bestimmen, dass das bogenförmige Objekt im Abtastbereich des Roboters (6) vorhanden ist, als Reaktion darauf, dass der eingeschlossene Winkel zwischen dem ersten Vektor und dem zweiten Vektor größer als der voreingestellte Winkelschwellenwert ist.
  4. Verfahren nach Anspruch 1, weiter umfassend:
    Steuern eines Fahrgestells des Roboters (6), sich um einen voreingestellten Winkel zu drehen, und Zurückkehren zum Schritt des Erhaltens der vom Radar (63) des Roboters (6) erzeugten Abtastdaten, bis das bogenförmige Objekt im Abtastbereich des Roboters (6) vorhanden ist oder ein Zeitverbrauch einen voreingestellten Zeitschwellenwert überschreitet, als Reaktion auf das Bestimmen, dass das bogenförmige Objekt nicht im Abtastbereich des Roboters (6) vorhanden ist.
  5. Computerprogramm, umfassend Anweisungen, die, wenn das Programm von einem Computer ausgeführt wird, den Computer veranlassen, die Schritte des Verfahrens nach einem der Ansprüche 1 bis 4 durchzuführen.
  6. Computerlesbares Medium, umfassend Anweisungen, die, wenn sie von einem Computer ausgeführt werden, den Computer veranlassen, das Verfahren nach einem der Ansprüche 1 bis 4 durchzuführen.
  7. Vorrichtung zur Identifizierung einer Roboterladestation, umfassend:
    ein Datenerhaltungsmodul, das konfiguriert ist, um von einem Radar (63) eines Roboters (6) erzeugte Abtastdaten zu erhalten, wobei die Abtastdaten eines oder mehrere Objekte und eine den Roboter (6) umgebende Umgebung anzeigen;
    ein Modul zur Bestimmung eines bogenförmigen Objekts, das konfiguriert ist, um auf der Grundlage der Abtastdaten zu bestimmen, ob ein bogenförmiges Objekt in einem Abtastbereich eines Radars (63) des Roboters (6) vorhanden ist, wobei das Modul zum Bestimmen eines bogenförmigen Objekts umfasst:
    eine Samplingpunkt-Erhaltungseinheit, die konfiguriert ist, um einen oder mehrere Samplingpunkte aus den Abtastdaten zu erhalten; und
    eine erste Bestimmungseinheit, die konfiguriert ist, um zu bestimmen, ob N Samplingpunkte vorhanden sind, die eine vorgegebene erste Bedingung erfüllen, wobei N eine ganze Zahl größer als 1 ist und die erste Bedingung eine Summe eines Absolutwerts von einem oder mehreren ersten Fehlerwerten ist, die kleiner als ein voreingestellter erster Schwellenwert ist, wobei der erste Fehlerwert eine Differenz eines Abstands zwischen jedem der einen oder mehreren Samplingpunkte und einem Referenzpunkt sowie einem voreingestellten Referenzabstand ist und der Referenzpunkt ein beliebiger Punkt innerhalb des Abtastbereichs ist; und
    ein Ladestations-Bestimmungsmodul, das konfiguriert ist, um als Reaktion auf das Bestimmen, dass das bogenförmige Objekt im Abtastbereich des Roboters (6) vorhanden ist, zu bestimmen, dass das bogenförmige Objekt eine Ladestation ist.
  8. Vorrichtung nach Anspruch 7, wobei das Modul zur Bestimmung eines bogenförmigen Objekts weiter umfasst:
    eine zweite Bestimmungseinheit, die konfiguriert ist, um zu bestimmen, ob die N Samplingpunkte eine voreingestellte zweite Bedingung erfüllen, wobei die zweite Bedingung ein Durchschnittswert von einem oder mehreren zweiten Fehlerwerten ist, die kleiner als ein voreingestellter zweiter Schwellenwert sind, und der zweite Fehlerwert ein Quadrat einer Differenz des ersten Fehlerwertes und eines Referenzfehlerwertes ist, wobei der Referenzfehlerwert ein Durchschnittswert des ersten Fehlerwertes ist.
  9. Vorrichtung nach Anspruch 8, wobei das Modul zur Bestimmung eines bogenförmigen Objekts weiter umfasst:
    eine Positionspunkt-Erhaltungseinheit, die konfiguriert ist, um einen aktuellen Positionspunkt des Roboters (6) zu erhalten;
    eine erste Vektorberechnungseinheit, die konfiguriert ist, um einen ersten Vektor vom aktuellen Positionspunkt des Roboters (6) zum Referenzpunkt zu berechnen;
    eine zweite Vektorberechnungseinheit, die konfiguriert ist, um einen zweiten Vektor von einem Zielsamplingpunkt zum Referenzpunkt zu berechnen, wobei der Zielsamplingpunkt ein beliebiger der N Samplingpunkte ist;
    eine dritte Bestimmungseinheit, die konfiguriert ist, um zu bestimmen, ob ein eingeschlossener Winkel zwischen dem ersten Vektor und dem zweiten Vektor größer als ein voreingestellter Winkelschwellenwert ist.
  10. Vorrichtung nach Anspruch 7, weiter umfassend:
    ein Fahrgestell-Drehmodul, das so konfiguriert ist, um ein Fahrgestell des Roboters (6) so zu steuern, dass es sich um einen voreingestellten Winkel dreht, als Reaktion auf das Bestimmen, dass das bogenförmige Objekt nicht im Abtastbereich des Roboters (6) vorhanden ist.
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